At RTaW, we focus on advancing the tools, techniques, and platforms that enable the development of provably safe critical systems efficiently and cost-effectively. Explore a selection of our presentations and papers below. Have any questions or feedback? We’d love to hear from you. You can also check out a selection of presentation slides on this page and recent research papers here.
Automotive and Aerospace Embedded Systems
K. Budweiser (BMW Group), J. Migge, “Automotive System Requirements on Traffic Shaping“, TSN/A Conference, Stuttgart, October 1-2, 2024. [software used: RTaW-Pegase]
F. Garcia (Real-Time Innovations), J. Migge, “DDS over TSN: configuring TSN to meet DDS level QoSes“, Automotive Ethernet Congress, March 5-7, 2024. Watch recorded webinar. [software used: RTaW-Pegase]
M. Turner (Ethernovia), J. Migge, “What are the relevant differences between Asynchronous (ATS) and Credit Based (CBS) Shaper?“, TSN/A conference, Ludwigsburg (Germany), September 27-28, 2023. [software used: RTaW-Pegase]
N. Navet, “TSN Timing QoS Mechanisms: What Did We Learn Over The Past 10 Years?“, keynote at the 13th International Workshop on Resilient Networks Design and Modeling (RNDM 2023), Hamburg, Germany, September 20-22, 2023.
B. Achemlal (Renault Group), D. Martini (Robert Bosch), J. Migge, J. Villanueva (Renault Group), “Strategies for End-to-End Timing Guarantees in a Centralized Software Defined Vehicle Architecture Combining CAN With TSN Backbone“, Automotive Ethernet Congress, March 22-23, 2023. [software used: RTaW-Pegase]
H. H. Bengtsson (Volvo Cars), N. Navet, “Time-Predictable Communication in Service-Oriented Architecture – What are the challenges?“, Automotive Ethernet Congress, March 22-23, 2023. [software used: RTaW-Pegase]
H. H. Bengtsson (Volvo Cars), M. Hiller (Volvo Cars), J. Migge, N. Navet, “Signal-Oriented ECUs in a Centralized Service-Oriented Architecture: Scalability of the Layered Software Architecture“, Automotive Ethernet Congress, June 1-2, 2022. [software used: RTaW-Pegase / Software-Defined Vehicle ]
C. Mauclair (Airbus Helicopters), M. Gutièrrez, J. Migge, N. Navet, “Do we really need TSN in Next-Generation Helicopters? Insights from a Case-Study“, 40th Digital Avionics Systems Conference (DASC 2021), San Antonio, Texas, October 3-7, 2021. Pdf of the slides. [software used: RTaW-Pegase / Topology-Stress-Test]
J. Villanueva (Renault Group), J. Migge, N. Navet, “QoS-Predictable SOA on TSN: Insights from a Case-Study“, Automotive Ethernet Congress, February 9-11, 2021. [software used: RTaW-Pegase]
O. Creighton (BMW Group), N. Navet, P. Keller, J. Migge, “Towards Computer-Aided, Iterative TSN-and Ethernet based EE Architecture Design”, 2020 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day, Munich, September 14-18, 2020. [software used: RTaW-Pegase / Topology-Optimizer + Topology-Stress-Test]
D. Pannel (NXP Semiconductor), N. Navet, “Practical Use-cases for Ethernet Redundancy”, 2020 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day, Munich, September 14-18, 2020. [software used: RTaW-Pegase]
N. Navet, H. H. Bengtsson (Volvo Cars), J. Migge, “Early-stage Bottleneck Identification and Removal in TSN Networks“, Automotive Ethernet Congress, February 12-13, 2020. [software used: RTaW-Pegase / Topology-Optimizer + Topology-Stress-Test]
N. Navet, J. Villanueva (Renault Group), J. Migge, “Early-stage Topological and Technological Choices for TSN-based Communication Architectures“, 2019 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day, Detroit, Mi, September 23-25, 2019. [software used: RTaW-Pegase / Topology-Stress-Test]
N. Navet, T.L. Mai, J. Migge, “Using Machine Learning to Speed Up the Design Space Exploration of Ethernet TSN networks“, Technical Report, January 2019. [software used: RTaW-Pegase]
T.L. Mai, N. Navet, J. Migge, “A Hybrid Machine Learning and Schedulability Method for the Verification of TSN Networks“, Proc. 15th IEEE International Workshop on Factory Communication System (WFCS2019), Sundsvall, Sweden, May 27-29, 2019. [software used: RTaW-Pegase]
J. Migge, N. Navet, “Insights into the performance and configuration of TCP in Automotive Ethernet Networks”, 2018 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day, London, October 9-10, 2018. [software used: RTaW-Pegase]
L. Fejoz, B. Régnier (CNES), P. Miramont (CNES), N. Navet, “Simulation-Based Fault Injection as a Verification Oracle for the Engineering of Time-Triggered Ethernet networks“, Proc. Embedded Real-Time Software and Systems (ERTS 2018), Best Paper Award, Toulouse, France, January, 2018. Pdf of the slides. [software used: CPAL]
N. Navet, J. Migge, J. Villanueva (Renault Group), M. Boyer (Onera), “Pre-shaping bursty transmissions under IEEE802.1Q as a simple and efficient QoS mechanism“, SAE International Journal of Passenger Cars—Electronic and Electrical Systems, 11(3):2018. [software used: RTaW-Pegase]
J. Migge, M. Boyer (Onera), N. Navet, J. Villanueva (Renault Group), “Insights on the performance and configuration of AVB and TSN in automotive networks“, Proc. Embedded Real-Time Software and Systems (ERTS 2018), Toulouse, France, January, 2018. [software used: RTaW-Pegase]
M. Boyer (ONERA), B. Dupont de Dinechin (Kalray), A. Graillat (Kalray), L. Havet “Computing Routes and Delay Bounds for the Network-on-Chip of the Kalray MPPA-256 Bostan Processor“, Proc. Embedded Real-Time Software and Systems (ERTS 2018), Toulouse, France, January, 2018. [software used: RTaW-Pegase]
N. Navet, J. Villanueva (Renault Group), J. Migge, M. Boyer (Onera), “Experimental assessment of QoS protocols for in-car Ethernet networks“, 2017 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day, San-Jose, Ca, October 31-November 2, 2017. [software used: RTaW-Pegase]
M. Boyer (Onera), H. Daigmorte (Onera), J. Migge, “Reducing CAN latencies by use of weak synchronization between stations“, 16th international CAN Conference, Nuremberg, Germany, March 7-8, 2017. [software used: RTaW-Sim, RTaW-Pegase]
S. M. Sundharam, N. Navet, S. Altmeyer, L. Havet, “A Model-Driven Co-design Framework for Fusing Control and Scheduling Viewpoints“, special issue “Design and Implementation of Future CPS”, Sensors, 18(2), MDPI, 2018. [software used: CPAL]
Sakthivel M. Sundharam, L. Fejoz, N. Navet, “Connected Motorized Riders – A Smart Mobility System to Connect Two and Three-wheelers“, Runner up at the “Grand Challenge: Smart Embedded Applications and IoT” organized along with ISED conference, Patna, India, December 16, 2016. [software used: CPAL]
M. Boyer (Onera), H. Daigmorte (Onera), N. Navet, J. Migge, “Performance impact of the interactions between time-triggered and rate-constrained transmissions in TTEthernet“, Embedded Real-Time Software and Systems (ERTS 2016), Toulouse, France, January 27-29, 2016. [software used: RTaW-Pegase]
L. Ciarletta (Alerion), L. Fejoz, A. Guenard (Alerion), N. Navet, “Development of a safe CPS component: the hybrid parachute, a remote termination add-on improving safety of UAS“, Embedded Real-Time Software and Systems (ERTS 2016), Toulouse, France, January 27-29, 2016. [software used: CPAL]
N. Navet, L. Fejoz, L. Havet, S. Altmeyer, “Lean Model-Driven Development through Model-Interpretation: the CPAL design flow“, Embedded Real-Time Software and Systems (ERTS 2016), Toulouse, France, January 27-29, 2016. [software used: CPAL]
S. Altmeyer, N. Navet, L. Fejoz, “Using CPAL to model and validate the timing behaviour of embedded systems“, 6th International Workshop on Analysis Tools and Methodologies for Embedded and Real-time Systems (WATERS), Lund, Sweden, July 7, 2015. [software used: CPAL]
J. Seyler (Daimler AG), N. Navet, L. Fejoz, “Insights on the Configuration and Performances of SOME/IP Service Discovery“, SAE World Congress, Detroit, USA, April 21-23, 2015. Pdf of the slides (color) – pdf of the slides (black and white). White paper version available upon request. [software used: RTaW-Pegase, Cyber-Physical Action Language]
N. Navet, J. Seyler (Daimler AG), J. Migge, “Timing verification of real-time automotive Ethernet networks: what can we expect from simulation?“, SAE World Congress, Oral presentation in the Safety-Critical Systems session, Detroit, USA, April 21-23, 2015. Pdf of the slides (color) – pdf of the slides (black and white). A white paper version was published at ERTS2016 is available for download. [software used: RTaW-Pegase]
J. Seyler (Daimler AG), T. Streichert (Daimler AG), M. Glaß, N. Navet and J. Teich, “Formal Analysis of the Startup Delay of SOME/IP Service Discovery“, Proceedings of Design, Automation and Test in Europe (DATE), Grenoble, France, March 9-13, 2015. White paper version available upon request. [software used: Cyber-Physical Action Language]
N. Navet, S. Louvart (Renault), J. Villanueva (Renault), S. Campoy-Martinez (Renault), J. Migge, “Timing Verification of Automotive Communication Architectures using Quantile Estimation“, Embedded Real-Time Software and Systems (ERTS 2014), Toulouse, France, February 5-7, 2014. Pdf of the slides (color) – pdf of the slides (black and white). [software used: RTaW-Sim, NETCAR-Analyzer, RTaW-TraceInspector, Netcarbench]
M. Boyer (Onera), L. Santinelli (Onera), N. Navet, J. Migge, M. Fumey (Thales Avionics), “Integrating End-system Frame Scheduling for more Accurate AFDX Timing Analysis“, Embedded Real-Time Software and Systems (ERTS 2014), Toulouse, France, February 5-7, 2014. [software used: RTaW-Pegase]
M. Boyer (Onera), L. Fejoz, S. Merz (Inria), “Proof-by-Instance for Embedded Network Design: From Prototype to Tool Roadmap“, Embedded Real-Time Software and Systems (ERTS 2014), Toulouse, France, February 5-7, 2014. [software used: RTaW-Pegase]
E. Mabille, M. Boyer (Onera), L. Fejoz, S. Merz (Inria), “Certifying Network Calculus in a Proof Assistant“, 5th European Conference for Aeronautics and Space Sciences (EUCASS), Munich, Germany, July 1-5, 2013. [software used: RTaW-Pegase]
M. Boyer (Onera), N. Navet, M. Fumey (Thales Avionics), J Migge, “Combining static priority and weighted round-robin like packet scheduling in AFDX for incremental certification and mixed criticality support“, 5th European Conference for Aeronautics and Space Sciences (EUCASS), Munich, Germany, July 1-5, 2013. [software used: RTaW-Pegase]
E. Mabille (Onera), M. Boyer, L. Fejoz, S. Merz (Inria), “Towards Certifying Network Calculus“, 4th Conference on Interactive Theorem Proving (ITP 2013), Rennes, France, July 22-26, 2013. [software used: RTaW-Pegase]
R. Davis, N. Navet, “Traffic Shaping to Reduce Jitter in Controller Area Network (CAN)“, ACM SIGBED Review, Special issue of the 24th Euromicro Conference on Real-Time Systems (ECRTS12), Volume 9, Issue 4, pp37-40, November 2012. [software used: Netcarbench]
N. Navet, H. Perrault (PSA), “CAN in Automotive Applications: a Look Forward“, 13th International CAN Conference, Hambach, Germany, March 5-6, 2012. Pdf of the slides (color) – pdf of the slides (black and white). [software used: RTaW-Sim, NETCAR-Analyzer, RTaW-TraceInspector, Netcarbench]
R. Davis, N. Navet, “Controller Area Network (CAN) Schedulability Analysis for Messages with Arbitrary Deadlines in FIFO and Work-Conserving Queues“, 9th IEEE International Workshop on Factory Communication System (WFCS 2012), May 21-24, 2012, Lemgo/Detmold, Germany. [software used: Netcarbench]
P. Meumeu-Yomsi, D. Bertrand, N. Navet, R. Davis, “Controller Area Network (CAN): Response Time Analysis with Offsets”, 9th IEEE International Workshop on Factory Communication System (WFCS 2012), May 21-24, 2012, Lemgo/Detmold, Germany. Pdf of the slides. [software used: RTaW-Sim, NETCAR-Analyzer, Netcarbench]
N. Navet, A. Monot, B. Bavoux (PSA), F. Simonot-Lion, “Multi-source Software on Multicore Automotive ECUs – Combining Runnable sequencing with task scheduling“, IEEE Transactions on Industrial Electronics, vol 59, n°10, 2012. [software used: RTaW-ECU]
A. Monot, N. Navet, B. Bavoux (PSA), C. Maxim, “Fine-grained Simulation in the Design of Automotive Communication Systems”, Embedded Real-Time Software and Systems (ERTS 2012), Toulouse, France, February 1-3, 2012. [software used: RTaW-Sim, NETCAR-Analyzer, Netcarbench]
M. Boyer (Onera), N. Navet, M. Fumey (Thales Avionics), “Experimental assessment of timing verification techniques for AFDX“, Embedded Real-Time Software and Systems (ERTS 2012), Toulouse, France, February 1-3, 2012. [software used: RTaW-Pegase, Netairbench]
M. Boyer (Onera), J. Migge, N. Navet, “A simple and efficient class of functions to model arrival curve of packetised flows“, First International Workshop on Worst-case Traversal Time (WCTT), in conjunction with the 32nd IEEE Real-time Systems Symposium (RTSS), Vienna, Austria, November 29, 2011. Pdf of the slides. [software used: RTaW-Pegase]
M. Boyer (Onera), J. Migge, M. Fumey (Thales Avionics), “PEGASE – a robust and efficient tool for worst-case network traversal time evaluation on AFDX“, technical report based a paper published at SAE Aerotech 2011, Toulouse, October 18-21, 2011. Pdf of the slides (color) – pdf of the slides (black and white). [software used: RTaW-Pegase]
A. Monot, N. Navet, B. Bavoux (PSA), “Impact of clock drifts on CAN frame response time distributions“, 16th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2011), Industry Practice track, Toulouse, September 2011. [software used: RTaW-Sim, NETCAR-Analyzer, Netcarbench]
D. Khan, R. Davis, N. Navet, “Schedulability analysis of CAN with non-abortable transmission requests“, 16th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2011), Toulouse, France, September 2011. [software used: Netcarbench]
N. Navet, “Automotive communication systems: from dependability to security”, talk at the 1st Seminar on Vehicular Communications and Applications (VCA 2011), Luxembourg, May 2011. Pdf of the slides (color) – pdf of the slides (black and white).
M. Boyer (Onera), N. Navet, X. Olive (Thales Aliena Space), E. Thierry, “The PEGASE project: precise and scalable temporal analysis for aerospace communication systems with Network Calculus“, 4th International Symposium on Leveraging Applications of Formal Methods – Verification and Validation (ISOLA 2010), Amirandes, Heraclion, Crete, 18-20 October 2010.
N. Navet, A. Monot, J. Migge, “Frame latency evaluation: when simulation and analysis alone are not enough”, 8th IEEE International Workshop on Factory Communication Systems (WFCS2010), Industry Day, May 19, 2010. Outline: beware of analytic models that are often much simplified and sometimes even lead to optimistic (=unsafe) results – even if it is rare, experiments on CAN show that unusually large response times can occur for a long time. [software used: RTaW-Sim, NETCAR-Analyzer, Netcarbench]
D. Khan, R. Bril, N. Navet, “Integrating Hardware Limitations in CAN Schedulability Analysis”, WiP at the 8th IEEE International Workshop on Factory Communication Systems (WFCS 2010), Nancy, France, May 2010. [software used: Netcarbench]
N. Navet, B. Delord (PSA), M. Baumeister (Freescale), “Virtualization in Automotive Embedded Systems : an Outlook”, talk at RTS Embedded Systems 2010, Paris, France, March, 2010. Pdf of the slides (color) – pdf of the slides (black and white).
N. Navet, A. Monot, B. Bavoux (PSA), F. Simonot-Lion, “Multi-source and multicore automotive ECUs – OS protection mechanisms and scheduling“, invited paper at IEEE International Symposium on Industrial Electronics (ISIE 2010), Bari, Italy, July 4-7, 2010. [software used: RTaW-ECU]
A. Monot, N. Navet, B. Bavoux (PSA), F. Simonot-Lion, “Multicore scheduling in automotive ECUs“, Embedded Real-Time Software and Systems (ERTS 2010), Toulouse, France, May 19-21, 2010. This paper is in the very same line as the one at IEEE ISIE except that it focuses on scheduling (it does not address protection mechanisms), and presents more experiments but no proofs. Pdf of the slides (color) – pdf of the slides (black and white). [software used: RTaW-ECU]
N. Navet, “In-Vehicle Networking : a Survey and Look Forward”, Workshop on Specialized Networks, in conjunction with IEEE ETFA 2009, Mallorca, Spain, September 26, 2009. Pdf of the slides (color) – pdf of the slides (black and white).
D. Khan, N. Navet, B. Bavoux (PSA), J. Migge, “Aperiodic Traffic in Response Time Analyses with Adjustable Safety Level“, IEEE ETFA2009, Mallorca, Spain, September 22-26, 2009. Pdf of the slides (color) – pdf of the slides (black and white). [software used: NETCAR-Analyzer, Netcarbench]
N. Navet, H. Perrault (PSA), “Mécanismes de protection dans AUTOSAR OS”, RTS Embedded Systems 2009 (RTS’09), Paris, April 2009. Pdf of the slides (color) – pdf of the slides (black and white).
N. Navet, F. Simonot-Lion, “A Review of Embedded Automotive Protocols“, chapter 4 in the Automotive Embedded Systems Handbook, 2008.
N. Navet, “Automating the Configuration of the FlexRay Communication Cycle”, FlexRay Product Days, Fellbach, Germany, November 2008. Pdf of the slides (color) – pdf of the slides (black and white). [software used: NETCAR-FlexConf]
M. Grenier, L. Havet, N. Navet, “Pushing the limits of CAN – Scheduling frames with offsets provides a major performance boost“, Proc. of the 4th European Congress Embedded Real Time Software (ERTS 2008), Toulouse, France, January 29 – February 1, 2008. Pdf of the slides – pps of the slides. Note: the paper that can be downloaded here is a slightly revised version of the ERTS conference paper. [software used: NETCAR-Analyzer, Netcarbench]
N. Navet, M. Grenier, L. Havet, “Configuring the communication on FlexRay: the case of the static segment“, Proc. of the 4th European Congress Embedded Real Time Software (ERTS 2008), Toulouse, France, January 29 – February 1, 2008. Pdf of the slides – pps of the slides. [software used: NETCAR-FlexConf]
C. Braun, L. Havet, N. Navet, “NETCARBENCH: a benchmark for techniques and tools used in the design of automotive communication systems“, Proc of the 7th IFAC International Conference on Fieldbuses & Networks in Industrial & Embedded Systems (FeT 2007), Toulouse, France, November 7-9, 2007. Executables, GPL source code and manual available here. [software used: Netcarbench]
R. Saket, N. Navet, “Frame Packing Algorithms for Automotive Applications“, Journal of Embedded Computing, vol. 2, n° 1, pp93-102, 2006.
B. Gaujal, N. Navet, “Maximizing the Robustness of TDMA Networks with Applications to TTP/C“, Real-Time Systems, Kluwer Academic Publishers, vol 31, n°1-3, pp5-31, December 2005. Here are some slides of talks given on this topic (slides in french pdf format – slides in english pdf format).
B. Gaujal, N. Navet, “Fault Confinement mechanisms on CAN : Analysis and Improvements“, IEEE Transactions on Vehicular Technology, vol 54, n°3, pp1103-1113, May 2005.
N. Navet, Y.-Q. Song, F. Simonot-Lion, C. Wilwert, “Trends in Automotive Communication Systems“, Proceedings of the IEEE, special issue on Industrial Communications Systems, invited paper, vol 96, n°6, pp1204-1223, June 2005.
C. Wilwert (PSA), N. Navet, Y.-Q. Song, F. Simonot-Lion, “Design of Automotive X-by-Wire Systems“, in The Industrial Communication Technology Handbook, CRC Press, ISBN 0-8493-3077-7, January 2005.
R. Santos Marques, N. Navet, F. Simonot-Lion, “Configuration of In-Vehicle Embedded Systems under Real-Time Constraints“, Proc. 10th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2005), Catania, Italy, 19-22 September 2005.
N. Navet, Y-Q. Song, F. Simonot, “Worst-Case Deadline Failure Probability in Real-Time Applications Distributed over CAN (Controller Area Network)“, Journal of Systems Architecture, Elsevier Science, vol. 46, n°7, 2000.
Real-Time Systems / Formal Methods
L. Shan, S. Graf, S. Quinton, L. Fejoz, “A Framework for Evaluating Schedulability Analysis Tools”, in “Models, Algorithms, Logics and Tools”, pp539-559, Springer, 2018. Pre-print version available as Research Report.
D. Déharbe, L. Fejoz, P. Fontaine and S. Merz, “Verified Incremental Development of Lock-Free Algorithms“, 1st Luxembourg Day on Security and Reliability, February 2009.
M. Grenier, N. Navet, “Fine Tuning MAC Level Protocols for Optimized Real-Time QoS“, IEEE Transactions on Industrial Informatics, special issue on Industrial Communication Systems, vol 4, n°1, 2008.
L. Fejoz, S. Merz, “Towards automatic proofs of lock-free algorithms“, Proc. Exploiting Concurrency Efficiently and Correctly — EC2, Computer Aided Verification (CAV) Workshop, 2008.
N. Navet, L. Cucu, R. Schott, “Probabilistic estimation of response times through large deviations“, Proc. WiP of the 28th IEEE Real-Time Systems Symposium (RTSS 2007), Tucson, Arizona, USA, December 3-6, 2007.
B. Gaujal, N. Navet, J. Migge, “Dual-Priority versus Background Scheduling : a Path-wise Comparison“, Real-Time Systems, Springer Verlag, vol. 25, n°1, pp39-66, 2003.
N. Navet, J. Migge, “Fine Tuning the Scheduling of Tasks through a Genetic Algorithm: Application to Posix1003.1b Compliant OS“, IEE Proceedings Software, IEE, vol. 150, n°1, pp13-24, 2003.
J. Migge, A Jean-Marie, N. Navet, “Timing Analysis of Compound Scheduling Policies : Application to Posix1003.1b“, Journal of Scheduling, Springer Verlag, vol. 6, n°5, pp457-482, 2003.
Low-Power Scheduling.
V. Nélis, J. Goossens, N. Navet, R. Devillers, D. Milojevic, “Power-Aware Real-Time Scheduling on Identical Multiprocessor Platforms“, Proc. of IEEE International Conference on Sensors Networks, Ubiquitous and Thrustworthy Computing, Taichung, Taiwan, June 11-13, 2008.
B. Gaujal, N. Navet, “Dynamic Voltage Scaling under EDF Revisited“, Real-Time Systems, Springer Verlag, vol. 37, n°1, pp77-97, 2007.
N. Navet, B. Gaujal, “Ordonnancement temps réel et minimisation de la consommation d’énergie“, chapter 4, Traité I2C Systèmes Temps Réel volume 2, Hermès Science, ISBN2-7462-1304-4, June 2006.
V. Rao, N. Navet, G. Singhal, A. Kumar, G.S. Visweswaran, “Battery Aware Dynamic Scheduling for Periodic Task Graphs“, Proc. of the 14th International Workshop on Parallel and Distributed Real-Time Systems (WPDRTS 2006), Island of Rhodes, Greece, April 25-26, 2006. Here are the slides of the talk.
B. Gaujal, N. Navet, C. Walsh, “Shortest Path Algorithms for Real-Time Scheduling of FIFO tasks with Optimal Energy Use“, ACM Transactions on Embedded Computing Systems, vol 4, n°4, pp907 – 933, November 2005.
G. Singhal, V. Rao, A. Kumar, N. Navet, “Battery Model for Embedded Systems“, Proc. of the 18th International Conference on VLSI Design (VLSI’2005), Calcuta (India), 3-7 January 2005. Here are the slides of the talk.